CN114378569B - A robot actuator with the function of automatic assembly of bolts - Google Patents

Abstract

The invention relates to a robot executing device with an automatic bolt assembling function, which comprises a rotary chuck unit, a clamping transmission unit, a buffering vibration isolation unit and a main control unit. The clamping transmission unit can control clamping claws in the rotary chuck unit to clamp and release bolts, the rotary chuck unit can drive the bolts clamped by the clamping claws to rotate, the buffering vibration isolation unit can buffer impact force generated when the bolts are in contact with a workpiece to be operated, and the main control unit coordinates and controls the clamping transmission unit and the rotary chuck unit. When the intermittent gear in the clamping transmission unit is in a meshed state with the plane thread gear in the rotary chuck unit, the intermittent gear controls the clamping jaw to clamp or release the bolt; when the intermittent gear and the plane thread gear are in a non-meshing state, the rotating motor is controlled to drive the bolt clamped by the clamping jaw to rotate, so that the assembly task is completed. The invention has simple structure and convenient assembly, can be directly arranged at the operation tail end of the movable robot, and completes the assembly operation of bolts with any model.

Description

A robot actuator with the function of automatic assembly of bolts

Technical field

The invention belongs to the technical field of mechanical automation, and in particular relates to a movable robot end effector capable of realizing the automatic assembly function of bolts.

Background technique

At present, in many equipment manufacturing industries such as heavy machinery, transportation, and aerospace, the combination and fixation of different workpieces are mostly realized by bolt connection. The traditional method needs to manually put the bolts into the corresponding holes of the workpiece to be operated, and then manually perform the locking operation, which leads to low production efficiency. In recent years, with the continuous development of robot manipulation technology, various types of end effectors with different functions have been widely used in the above-mentioned manufacturing fields, greatly improving production efficiency. However, although some of these actuators can realize the automatic tightening and dismounting of bolts through hydraulic, pneumatic, and electric methods, due to the variety of bolt types in the equipment manufacturing process, it is necessary to frequently replace the matching sleeves, which is seriously production speed is limited. In addition, due to the shortcomings of bloated structure, large space occupation, and lack of impact buffer structure, it cannot be directly installed at the end of the mobile robot, and high-precision dynamic operations can be performed when the robot base and the workpiece to be operated are moving relative to the ground. This undoubtedly limits the application scenarios and cannot fully meet the transformation needs of intelligent production in related industries.

Contents of the invention

The invention proposes an actuator that is not limited by the variety of bolt types and can be directly installed at the end of a mobile robot for automatic bolt assembly. The device has the characteristics of simple structure, and can complete the assembly task under the condition that the base of the robot and the workpiece to be operated move relative to the ground.

Technical scheme of the present invention:

A robot actuator with the function of automatic bolt assembly of the present invention includes a rotary chuck unit, a clamping transmission unit, a buffer vibration isolation unit and a main control unit. The rotary chuck unit includes a rotary motor, a fixed plate for the rotary motor, a transmission shaft, a pressure spring, a jaw assembly and a unit mounting plate, and the jaw assembly includes an assembly supporting bearing, a base, a housing, a flat threaded gear, a flat threaded gear supporting bearing and The claw, the fixed plate of the rotating motor is fixedly connected to the unit mounting plate, and the rotating motor is also installed on it. The output shaft of the rotating motor is fixedly connected with the transmission shaft. The spring is installed between the transmission shaft and the base to reduce the axial vibration of the transmission shaft, so as to buffer the axial impact force generated when the bolt on the end effector contacts the workpiece to be operated. The housing in the claw assembly Installed on the base, the base is installed on the unit mounting plate through the component support bearing, the plane thread gear support bearing is installed on the shaft of the base, the plane thread gear is installed on the above bearing, the plane thread gear has equidistant helix, claws It is installed in the housing groove and cooperates with the equidistant helix on the plane threaded gear. When the plane threaded gear rotates, it can control the closing and releasing of the jaws. The movement range of the jaws can be determined by the positioning screw installed in the housing. The top screw is determined, and the line shape of the equidistant helix on the plane threaded gear can be properly adjusted according to the size of the jaws; the clamping transmission unit includes a clamping motor and an intermittent gear, and the clamping motor is installed on the unit mounting plate of the rotary chuck unit It controls the movement of the intermittent gear mounted on its shaft. The intermittent gear can drive the plane threaded gear to rotate, thereby controlling the closing and releasing of the jaws. The number of teeth can be adjusted according to the system requirements; the buffer vibration isolation unit includes a vibration isolation frame mounting plate , The buffer vibration isolation frame and the main mounting plate, the buffer vibration isolation frame is made of buffer material, and is fixed on the main mounting plate through the vibration isolation frame mounting plate, and the main body of the end effector is isolated from the main mounting plate, which can buffer the stuck The lateral impact force that may be generated when the bolts held by the claws are in contact with the workpiece to be operated; the main control unit includes a motion control card and a motor driver.

The working principle of a robot actuator with automatic bolt assembly function of the present invention is that when loading and unloading bolts, the intermittent gear is firstly controlled by the main control unit to rotate. Two jaws clamp or release the bolt; when the intermittent gear and the plane threaded gear are in a non-meshing state, the main control unit controls the rotating motor to drive the bolt clamped by the jaws to rotate, thereby completing the assembly task.

Compared with existing technology, the present invention has following characteristics:

1. Through the cooperation of the intermittent gear of the clamping transmission unit and the plane threaded gear of the rotary chuck unit, the assembly of any type of bolt can be completed;

2. Use the compression spring to reduce the axial vibration of the transmission shaft, thereby buffering the axial impact force generated when the bolt contacts the workpiece to be operated;

3. The main body of the end effector is isolated from the main mounting plate through the buffer vibration isolation frame, and the lateral impact force generated when the bolt contacts with the workpiece to be operated is buffered;

4. The structure is simple, easy to assemble, and can be directly installed on the operating end of the mobile robot.

Description of drawings

Fig. 1 is a side view and a front view of a robot actuator with automatic bolt assembly function according to the present invention.

Numbers in the figure: 1: rotating chuck unit; 2: clamping transmission unit; 3: buffer vibration isolation unit.

Fig. 2 is a perspective view of the spin chuck unit in the present invention.

Symbols in the figure: 10: rotating motor; 11: fixing plate of rotating motor; 12: transmission shaft; 13: compression spring; 14: jaw assembly; 15: unit mounting plate.

Figure 3 is a front view and an isometric view of the jaw assembly of the present invention.

Reference numerals in the figure: 140: component support bearing; 141: base; 142: shell; 143: plane thread gear; 144: plane thread gear support bearing; 145: claw.

Fig. 4 is an assembly drawing of the plane threaded gear, the plane threaded gear support bearing and the jaws of the claw assembly in the present invention.

Symbols in the figure: 143: plane thread gear; 144: support bearing of plane thread gear; 145: claw.

Fig. 5 is a front view and an axonometric view of the housing of the claw assembly in the present invention.

Numbers in the figure: 1420: positioning screw holes; 142: housing.

Fig. 6 is a front view and an axonometric view of the clamping transmission unit in the present invention.

Numbers in the figure: 20: clamping motor; 21: intermittent gear

Fig. 7 is a front view and a rear view of the buffer vibration isolation unit in the present invention.

Numbers in the figure: 30: vibration isolation frame mounting plate; 31: buffer vibration isolation frame; 32: main mounting plate.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

Referring to Figure 1, a robot actuator with the function of automatic bolt assembly includes a rotary chuck unit 1, a clamping transmission unit 2, a buffer vibration isolation unit 3 and a main control unit, and the clamping transmission unit 2 is installed through the rotary chuck unit 1. On the buffer vibration isolation unit 3.

2 to 5, the rotary chuck unit 1 includes a rotary motor 10, a rotary motor fixing plate 11, a transmission shaft 12, a pressure spring 13, a jaw assembly 14 and a unit mounting plate 15, and the jaw assembly 14 includes an assembly support bearing 140 , base 141, housing 142, plane threaded gear 143, plane threaded gear support bearing 144 and claw 145, rotating motor fixed plate 11 is fixedly connected on the unit mounting plate 15, and rotating motor 10 is also installed on it, rotating motor 10 The output shaft of the output shaft is fixedly connected with the transmission shaft 12, and the base 141 of the compression spring 13 and the claw assembly 14 is installed on the transmission shaft 12, wherein the compression spring 13 is installed between the transmission shaft 12 and the base 141, and is used to reduce the pressure of the transmission shaft. 12 axial vibration, so as to buffer the axial impact force generated when the bolts on the end effector come into contact with the workpiece to be operated, the housing 142 in the claw assembly 14 is installed on the base 141, and the base 141 supports the bearing 140 through the assembly Installed on the unit mounting plate 15, a flat threaded gear support bearing 144 is installed on the shaft of the base 141, and the flat threaded gear 143 is installed on the above-mentioned bearing, and has an interference fit with it. The pawl 145 is installed in the groove of the housing 142 and cooperates with the equidistant helix on the plane threaded gear 143. When the plane threaded gear 143 rotates, the closing and releasing of the pawl 145 can be controlled. The moving range of the pawl 145 can be controlled by the installation The top screw in the positioning screw hole 1420 of the housing 142 is determined, and the equidistant helix shape on the plane threaded gear 143 can be properly adjusted according to the size of the claw 145 .

3 to 5, the assembly steps of the jaw assembly 14 are as follows:

1) Install the base 141 on the component support bearing 140;

2) Install the plane threaded gear support bearing 144 on the base 141;

3) Install the plane threaded gear 143 on the plane threaded gear support bearing 144;

4) Install the housing 142 on the base 141;

5) Install the claw 145 in the groove of the housing 142 .

Combined with Figure 2, the assembly steps of the spin chuck unit are

1) Install the rotating motor fixing plate 11 on the unit mounting plate 15;

2) installing the rotating electrical machine 10 on the rotating electrical machine fixing plate 11;

3) The transmission shaft 12 is installed on the rotating electrical machine 10;

4) stage clip 13 is installed on the transmission shaft 12;

5) Install the component support bearing 140 in the claw assembly 14 on the unit mounting plate 15 , and install the base 141 in the claw assembly 14 on the transmission shaft 12 at the same time.

6, the clamping transmission unit 2 includes a clamping motor 20 and an intermittent gear 21. The clamping motor 20 is installed on the unit mounting plate 15 of the rotary chuck unit 1 to control the movement of the intermittent gear 21 mounted on its shaft. When the intermittent gear 21 and the plane threaded gear 143 are in the meshed state, the intermittent gear 21 can control the clamping jaw 145 in the jaw assembly 14 to clamp or release the bolt. 10 drives the bolt clamped by the claw 145 to rotate, thereby completing the assembly task, and the number of teeth of the intermittent gear 21 can be adjusted according to system requirements.

7, the buffer vibration isolation unit 3 includes a vibration isolation frame mounting plate 30, a buffer vibration isolation frame 31 and a main mounting plate 32. The buffer vibration isolation frame 31 is made of a buffer material and the main body of the end effector is connected to the main mounting plate 32. Isolation can buffer the lateral impact force that may be generated when the bolts clamped by the three jaws 145 in the jaw assembly 14 are in contact with the workpiece to be operated. The vibration isolation frame mounting plate 30 will buffer the vibration isolation frame 31 and the rotary chuck unit The unit mounting plate 15 in 1 is fixed on the main mounting plate 32, and a robot actuator with bolt automatic assembly function of the present invention can be conveniently installed on the operating end of any mobile robot through the main mounting plate.

Claims (5)

1. A robot executive device with a bolt automatic assembly function is characterized in that: the vibration damping device comprises a rotary chuck unit, a clamping transmission unit, a buffering vibration isolation unit and a main control unit, wherein the clamping transmission unit is arranged on the rotary chuck unit;

the rotary chuck unit comprises a rotary motor, a rotary motor fixing plate, a transmission shaft, a pressure spring, a jaw assembly and a unit mounting plate, wherein the jaw assembly comprises an assembly supporting bearing, a base, a shell, a plane thread gear supporting bearing and a jaw; the clamping transmission unit comprises a clamping motor and an intermittent gear, the clamping motor is arranged on a unit mounting plate of the rotary chuck unit, an intermittent gear is arranged on an output shaft of the clamping motor, and the intermittent gear drives the plane thread gear to rotate; the buffering vibration isolation unit comprises a vibration isolation frame mounting plate, a buffering vibration isolation frame and a main mounting plate, and unit mounting plates in the buffering vibration isolation frame and the rotary chuck unit are fixedly connected with the main mounting plate through the vibration isolation frame mounting plate.

2. The robot actuator with an automatic bolt assembling function according to claim 1, characterized in that: the plane thread gear in the rotary chuck unit is provided with equidistant spiral lines, the clamping jaws are arranged in the grooves of the shell and are matched with the equidistant spiral lines on the plane thread gear, when the plane thread gear rotates, the clamping jaws can be controlled to be closed and released, the moving range of the clamping jaws can be determined by jackscrews arranged in positioning screw holes of the shell, and the line type of the equidistant spiral lines on the plane thread gear can be adjusted according to the size of the clamping jaws.

3. The robot actuator with an automatic bolt assembling function according to claim 2, characterized in that: the claw assembly is assembled by the following steps of

1) Mounting the base on the assembly support bearing;

2) Mounting a plane thread gear support bearing on a base;

3) Mounting a planar threaded gear on a planar threaded gear support bearing;

4) Mounting the housing on the base;

5) The jaws are mounted in the housing slots.

4. A robot actuator with an automatic bolt assembling function according to claim 3, characterized in that: the clamping transmission unit comprises a clamping motor and an intermittent gear, the clamping motor is arranged on a unit mounting plate of the rotary chuck unit and controls the intermittent gear arranged on the shaft to move, when the intermittent gear is in a meshed state with the plane thread gear, the intermittent gear can control a claw in the claw assembly to clamp or release a bolt to be assembled, when the intermittent gear is in a non-meshed state with the plane thread gear, the rotary motor drives the bolt clamped by the claw to rotate, so that the assembly task is completed, and the tooth number of the intermittent gear can be adjusted according to the system requirement.

5. The robot actuator with an automatic bolt assembling function according to claim 4, wherein: the buffering vibration isolation unit comprises a vibration isolation frame mounting plate, a buffering vibration isolation frame and a main mounting plate, wherein the buffering vibration isolation frame is made of buffering materials and isolates the main body of the tail end execution device from the main mounting plate, so that transverse impact force generated when bolts clamped by three clamping jaws in the clamping jaw assembly are contacted with a workpiece to be operated can be buffered, the buffering vibration isolation frame and the unit mounting plate in the rotary chuck unit are fixed on the main mounting plate by the vibration isolation frame mounting plate, and the vibration isolation frame can be conveniently mounted at the operation tail end of any movable robot through the main mounting plate.